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<pre><span class="sourceLineNo">001</span>package org.triplehelix.lib.controller;<a name="line.1"></a>
<span class="sourceLineNo">002</span><a name="line.2"></a>
<span class="sourceLineNo">003</span>import edu.wpi.first.wpilibj.Joystick;<a name="line.3"></a>
<span class="sourceLineNo">004</span><a name="line.4"></a>
<span class="sourceLineNo">005</span>/**<a name="line.5"></a>
<span class="sourceLineNo">006</span> * XBox controller wrapper for a joystick.<a name="line.6"></a>
<span class="sourceLineNo">007</span> * @author Matthew.Lythgoe<a name="line.7"></a>
<span class="sourceLineNo">008</span> */<a name="line.8"></a>
<span class="sourceLineNo">009</span>public class XBoxController extends Joystick {<a name="line.9"></a>
<span class="sourceLineNo">010</span>    <a name="line.10"></a>
<span class="sourceLineNo">011</span>    public static final int A = 0;<a name="line.11"></a>
<span class="sourceLineNo">012</span>    public static final int B = 1;<a name="line.12"></a>
<span class="sourceLineNo">013</span>    public static final int X = 2;<a name="line.13"></a>
<span class="sourceLineNo">014</span>    public static final int Y = 3;<a name="line.14"></a>
<span class="sourceLineNo">015</span>    public static final int LEFT_BUMPER = 4;<a name="line.15"></a>
<span class="sourceLineNo">016</span>    public static final int RIGHT_BUMPER = 5;<a name="line.16"></a>
<span class="sourceLineNo">017</span>    public static final int BACK = 6;<a name="line.17"></a>
<span class="sourceLineNo">018</span>    public static final int START = 7;<a name="line.18"></a>
<span class="sourceLineNo">019</span>    public static final int LEFT_STICK = 8;<a name="line.19"></a>
<span class="sourceLineNo">020</span>    public static final int RIGHT_STICK = 9;<a name="line.20"></a>
<span class="sourceLineNo">021</span>    <a name="line.21"></a>
<span class="sourceLineNo">022</span>    public static final int LEFT_X = 1;<a name="line.22"></a>
<span class="sourceLineNo">023</span>    public static final int LEFT_Y = 2;<a name="line.23"></a>
<span class="sourceLineNo">024</span>    public static final int TRIGGERS = 3;<a name="line.24"></a>
<span class="sourceLineNo">025</span>    public static final int RIGHT_X = 4;<a name="line.25"></a>
<span class="sourceLineNo">026</span>    public static final int RIGHT_Y = 5;<a name="line.26"></a>
<span class="sourceLineNo">027</span>    public static final int D_PAD_X = 6;<a name="line.27"></a>
<span class="sourceLineNo">028</span>    public static final int D_PAD_Y = 7;<a name="line.28"></a>
<span class="sourceLineNo">029</span>    <a name="line.29"></a>
<span class="sourceLineNo">030</span>    public XBoxController(int port) {<a name="line.30"></a>
<span class="sourceLineNo">031</span>        super(port);<a name="line.31"></a>
<span class="sourceLineNo">032</span>    }<a name="line.32"></a>
<span class="sourceLineNo">033</span> <a name="line.33"></a>
<span class="sourceLineNo">034</span>    /**<a name="line.34"></a>
<span class="sourceLineNo">035</span>     * Read the value of the right joystick's X axis.<a name="line.35"></a>
<span class="sourceLineNo">036</span>     * @return the value of the right joystick's X axis.<a name="line.36"></a>
<span class="sourceLineNo">037</span>     */<a name="line.37"></a>
<span class="sourceLineNo">038</span>    public double getRightStickX() {<a name="line.38"></a>
<span class="sourceLineNo">039</span>        return getRawAxis(RIGHT_X);<a name="line.39"></a>
<span class="sourceLineNo">040</span>    }<a name="line.40"></a>
<span class="sourceLineNo">041</span><a name="line.41"></a>
<span class="sourceLineNo">042</span>    /**<a name="line.42"></a>
<span class="sourceLineNo">043</span>     * Read the value of the right joystick's Y axis.<a name="line.43"></a>
<span class="sourceLineNo">044</span>     * @return the value of the right joystick's Y axis.<a name="line.44"></a>
<span class="sourceLineNo">045</span>     */<a name="line.45"></a>
<span class="sourceLineNo">046</span>    public double getRightStickY() {<a name="line.46"></a>
<span class="sourceLineNo">047</span>        return getRawAxis(RIGHT_Y);<a name="line.47"></a>
<span class="sourceLineNo">048</span>    }<a name="line.48"></a>
<span class="sourceLineNo">049</span><a name="line.49"></a>
<span class="sourceLineNo">050</span>    /**<a name="line.50"></a>
<span class="sourceLineNo">051</span>     * Read the value of the left joystick's X axis.<a name="line.51"></a>
<span class="sourceLineNo">052</span>     * @return the value of the left joystick's X axis.<a name="line.52"></a>
<span class="sourceLineNo">053</span>     */<a name="line.53"></a>
<span class="sourceLineNo">054</span>    public double getLeftStickX() {<a name="line.54"></a>
<span class="sourceLineNo">055</span>        return getRawAxis(LEFT_X);<a name="line.55"></a>
<span class="sourceLineNo">056</span>    }<a name="line.56"></a>
<span class="sourceLineNo">057</span><a name="line.57"></a>
<span class="sourceLineNo">058</span>    /**<a name="line.58"></a>
<span class="sourceLineNo">059</span>     * Read the value of the left joystick's Y axis.<a name="line.59"></a>
<span class="sourceLineNo">060</span>     * @return the value of the left joystick's Y axis.<a name="line.60"></a>
<span class="sourceLineNo">061</span>     */<a name="line.61"></a>
<span class="sourceLineNo">062</span>    public double getLeftStickY() {<a name="line.62"></a>
<span class="sourceLineNo">063</span>        return getRawAxis(LEFT_Y);<a name="line.63"></a>
<span class="sourceLineNo">064</span>    }<a name="line.64"></a>
<span class="sourceLineNo">065</span>    <a name="line.65"></a>
<span class="sourceLineNo">066</span>    /**<a name="line.66"></a>
<span class="sourceLineNo">067</span>     * Read the value of the d-pad's X axis.<a name="line.67"></a>
<span class="sourceLineNo">068</span>     * @return the value of the d-pad's X axis.<a name="line.68"></a>
<span class="sourceLineNo">069</span>     */<a name="line.69"></a>
<span class="sourceLineNo">070</span>    public double getDPadX() {<a name="line.70"></a>
<span class="sourceLineNo">071</span>        return getRawAxis(D_PAD_X);<a name="line.71"></a>
<span class="sourceLineNo">072</span>    }<a name="line.72"></a>
<span class="sourceLineNo">073</span>    <a name="line.73"></a>
<span class="sourceLineNo">074</span>    /**<a name="line.74"></a>
<span class="sourceLineNo">075</span>     * Read the value of the d-pad's Y axis.<a name="line.75"></a>
<span class="sourceLineNo">076</span>     * @return the value of the d-pad's Y axis.<a name="line.76"></a>
<span class="sourceLineNo">077</span>     */<a name="line.77"></a>
<span class="sourceLineNo">078</span>    public double getDPadY() {<a name="line.78"></a>
<span class="sourceLineNo">079</span>        return getRawAxis(D_PAD_Y);<a name="line.79"></a>
<span class="sourceLineNo">080</span>    }<a name="line.80"></a>
<span class="sourceLineNo">081</span><a name="line.81"></a>
<span class="sourceLineNo">082</span>    /**<a name="line.82"></a>
<span class="sourceLineNo">083</span>     * Read the state of the A button.<a name="line.83"></a>
<span class="sourceLineNo">084</span>     * @return the state of the A button.<a name="line.84"></a>
<span class="sourceLineNo">085</span>     */<a name="line.85"></a>
<span class="sourceLineNo">086</span>    public boolean getAButton() {<a name="line.86"></a>
<span class="sourceLineNo">087</span>        return getRawButton(A);<a name="line.87"></a>
<span class="sourceLineNo">088</span>    }<a name="line.88"></a>
<span class="sourceLineNo">089</span><a name="line.89"></a>
<span class="sourceLineNo">090</span>    /**<a name="line.90"></a>
<span class="sourceLineNo">091</span>     * Read the state of the B button.<a name="line.91"></a>
<span class="sourceLineNo">092</span>     * @return the state of the B button.<a name="line.92"></a>
<span class="sourceLineNo">093</span>     */<a name="line.93"></a>
<span class="sourceLineNo">094</span>    public boolean getBButton() {<a name="line.94"></a>
<span class="sourceLineNo">095</span>        return getRawButton(B);<a name="line.95"></a>
<span class="sourceLineNo">096</span>    }<a name="line.96"></a>
<span class="sourceLineNo">097</span><a name="line.97"></a>
<span class="sourceLineNo">098</span>    /**<a name="line.98"></a>
<span class="sourceLineNo">099</span>     * Read the state of the X button.<a name="line.99"></a>
<span class="sourceLineNo">100</span>     * @return the state of the X button.<a name="line.100"></a>
<span class="sourceLineNo">101</span>     */<a name="line.101"></a>
<span class="sourceLineNo">102</span>    public boolean getXButton() {<a name="line.102"></a>
<span class="sourceLineNo">103</span>        return getRawButton(X);<a name="line.103"></a>
<span class="sourceLineNo">104</span>    }<a name="line.104"></a>
<span class="sourceLineNo">105</span><a name="line.105"></a>
<span class="sourceLineNo">106</span>    /**<a name="line.106"></a>
<span class="sourceLineNo">107</span>     * Read the state of the Y button.<a name="line.107"></a>
<span class="sourceLineNo">108</span>     * @return the state of the Y button.<a name="line.108"></a>
<span class="sourceLineNo">109</span>     */<a name="line.109"></a>
<span class="sourceLineNo">110</span>    public boolean getYButton() {<a name="line.110"></a>
<span class="sourceLineNo">111</span>        return getRawButton(Y);<a name="line.111"></a>
<span class="sourceLineNo">112</span>    }<a name="line.112"></a>
<span class="sourceLineNo">113</span><a name="line.113"></a>
<span class="sourceLineNo">114</span>    /**<a name="line.114"></a>
<span class="sourceLineNo">115</span>     * Read the state of the back button.<a name="line.115"></a>
<span class="sourceLineNo">116</span>     * @return the state of the back button.<a name="line.116"></a>
<span class="sourceLineNo">117</span>     */<a name="line.117"></a>
<span class="sourceLineNo">118</span>    public boolean getBackButton() {<a name="line.118"></a>
<span class="sourceLineNo">119</span>        return getRawButton(BACK);<a name="line.119"></a>
<span class="sourceLineNo">120</span>    }<a name="line.120"></a>
<span class="sourceLineNo">121</span><a name="line.121"></a>
<span class="sourceLineNo">122</span>    /**<a name="line.122"></a>
<span class="sourceLineNo">123</span>     * Read the state of the start button.<a name="line.123"></a>
<span class="sourceLineNo">124</span>     * @return the state of the start button.<a name="line.124"></a>
<span class="sourceLineNo">125</span>     */<a name="line.125"></a>
<span class="sourceLineNo">126</span>    public boolean getStartButton() {<a name="line.126"></a>
<span class="sourceLineNo">127</span>        return getRawButton(START);<a name="line.127"></a>
<span class="sourceLineNo">128</span>    }<a name="line.128"></a>
<span class="sourceLineNo">129</span><a name="line.129"></a>
<span class="sourceLineNo">130</span>    /**<a name="line.130"></a>
<span class="sourceLineNo">131</span>     * Read the state of the right bumper button.<a name="line.131"></a>
<span class="sourceLineNo">132</span>     * @return the state of the right bumper button.<a name="line.132"></a>
<span class="sourceLineNo">133</span>     */<a name="line.133"></a>
<span class="sourceLineNo">134</span>    public boolean getRightBumperButton() {<a name="line.134"></a>
<span class="sourceLineNo">135</span>        return getRawButton(RIGHT_BUMPER);<a name="line.135"></a>
<span class="sourceLineNo">136</span>    }<a name="line.136"></a>
<span class="sourceLineNo">137</span><a name="line.137"></a>
<span class="sourceLineNo">138</span>    /**<a name="line.138"></a>
<span class="sourceLineNo">139</span>     * Read the state of the left bumper button.<a name="line.139"></a>
<span class="sourceLineNo">140</span>     * @return the state of the left bumper button.<a name="line.140"></a>
<span class="sourceLineNo">141</span>     */<a name="line.141"></a>
<span class="sourceLineNo">142</span>    public boolean getLeftBumperButton() {<a name="line.142"></a>
<span class="sourceLineNo">143</span>        return getRawButton(LEFT_BUMPER);<a name="line.143"></a>
<span class="sourceLineNo">144</span>    }<a name="line.144"></a>
<span class="sourceLineNo">145</span><a name="line.145"></a>
<span class="sourceLineNo">146</span>    /**<a name="line.146"></a>
<span class="sourceLineNo">147</span>     * Read the state of the left stick button.<a name="line.147"></a>
<span class="sourceLineNo">148</span>     * @return the state of the left stick button.<a name="line.148"></a>
<span class="sourceLineNo">149</span>     */<a name="line.149"></a>
<span class="sourceLineNo">150</span>    public boolean getLeftStickButton() {<a name="line.150"></a>
<span class="sourceLineNo">151</span>        return getRawButton(LEFT_STICK);<a name="line.151"></a>
<span class="sourceLineNo">152</span>    }<a name="line.152"></a>
<span class="sourceLineNo">153</span><a name="line.153"></a>
<span class="sourceLineNo">154</span>    /**<a name="line.154"></a>
<span class="sourceLineNo">155</span>     * Read the state of the right stick button.<a name="line.155"></a>
<span class="sourceLineNo">156</span>     * @return the state of the right stick button.<a name="line.156"></a>
<span class="sourceLineNo">157</span>     */<a name="line.157"></a>
<span class="sourceLineNo">158</span>    public boolean getRightStickButton() {<a name="line.158"></a>
<span class="sourceLineNo">159</span>        return getRawButton(RIGHT_STICK);<a name="line.159"></a>
<span class="sourceLineNo">160</span>    } <a name="line.160"></a>
<span class="sourceLineNo">161</span>        <a name="line.161"></a>
<span class="sourceLineNo">162</span>    /**<a name="line.162"></a>
<span class="sourceLineNo">163</span>     * Read the state of the right trigger.<a name="line.163"></a>
<span class="sourceLineNo">164</span>     * @return the state of the right trigger.<a name="line.164"></a>
<span class="sourceLineNo">165</span>     */<a name="line.165"></a>
<span class="sourceLineNo">166</span>    public double getRightTrigger() {<a name="line.166"></a>
<span class="sourceLineNo">167</span>        return -Math.min(getRawAxis(TRIGGERS), 0);<a name="line.167"></a>
<span class="sourceLineNo">168</span>    }<a name="line.168"></a>
<span class="sourceLineNo">169</span><a name="line.169"></a>
<span class="sourceLineNo">170</span>    /**<a name="line.170"></a>
<span class="sourceLineNo">171</span>     * Read the state of the left trigger.<a name="line.171"></a>
<span class="sourceLineNo">172</span>     * @return the state of the left trigger.<a name="line.172"></a>
<span class="sourceLineNo">173</span>     */<a name="line.173"></a>
<span class="sourceLineNo">174</span>    public double getLeftTrigger() {<a name="line.174"></a>
<span class="sourceLineNo">175</span>        return Math.max(getRawAxis(TRIGGERS), 0);<a name="line.175"></a>
<span class="sourceLineNo">176</span>    }<a name="line.176"></a>
<span class="sourceLineNo">177</span>}<a name="line.177"></a>




























































</pre>
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